NDLI: Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism

Content Provider	IEEE Xplore Digital Library
Author	Yamaguchi, J. Takanishi, A.
Copyright Year	1997
Description	Author affiliation: Humanoid Res. Lab., Waseda Univ., Tokyo, Japan (Yamaguchi, J.)
Abstract	The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with the antagonistically driven joints by which the human musculo-skeletal system is imitated in lower limbs. Humans are considered to exhibit walking behavior, both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots can not realize the human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscle themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s/step with a 0.1 m step length.
Starting Page	185
Ending Page	192
File Size	1091471
Page Count	8
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620036
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Springs Humans Robots Muscles Medical robotics Rehabilitation robotics Motion control Mechanical engineering Anthropomorphism
Content Type	Text
Resource Type	Article

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